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1 | /*************************************************************************** |
1 | /*************************************************************************** |
2 | * Copyright (C) 2009 by Manuel Schrape * |
2 | * Copyright (C) 2009 by Manuel Schrape * |
3 | * manuel.schrape@gmx.de * |
3 | * manuel.schrape@gmx.de * |
4 | * * |
4 | * * |
5 | * This program is free software; you can redistribute it and/or modify * |
5 | * This program is free software; you can redistribute it and/or modify * |
6 | * it under the terms of the GNU General Public License as published by * |
6 | * it under the terms of the GNU General Public License as published by * |
7 | * the Free Software Foundation; either version 2 of the License. * |
7 | * the Free Software Foundation; either version 2 of the License. * |
8 | * * |
8 | * * |
9 | * This program is distributed in the hope that it will be useful, * |
9 | * This program is distributed in the hope that it will be useful, * |
10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * |
12 | * GNU General Public License for more details. * |
12 | * GNU General Public License for more details. * |
13 | * * |
13 | * * |
14 | * You should have received a copy of the GNU General Public License * |
14 | * You should have received a copy of the GNU General Public License * |
15 | * along with this program; if not, write to the * |
15 | * along with this program; if not, write to the * |
16 | * Free Software Foundation, Inc., * |
16 | * Free Software Foundation, Inc., * |
17 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
17 | * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * |
18 | ***************************************************************************/ |
18 | ***************************************************************************/ |
19 | #ifndef MK_DATATYPES_H |
19 | #ifndef MK_DATATYPES_H |
20 | #define MK_DATATYPES_H |
20 | #define MK_DATATYPES_H |
21 | 21 | ||
22 | #include <stdint.h> |
22 | #include <stdint.h> |
23 | 23 | ||
24 | #ifdef _BETA_ |
24 | #ifdef _BETA_ |
25 | static const int MK_VERSION_SETTINGS = 84; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
25 | static const int MK_VERSION_SETTINGS = 85; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
26 | #else |
26 | #else |
27 | static const int MK_VERSION_SETTINGS = 84; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
27 | static const int MK_VERSION_SETTINGS = 85; // wird angepasst, wenn sich die EEPROM-Daten ge�ndert haben |
28 | #endif |
28 | #endif |
29 | 29 | ||
30 | static const int MK_VERSION_NAVI = 4; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben |
30 | static const int MK_VERSION_NAVI = 4; // wird angepasst, wenn sich die Navi-Daten ge�ndert haben |
31 | 31 | ||
32 | static const int MK_VERSION_MIXER = 1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben |
32 | static const int MK_VERSION_MIXER = 1; // wird angepasst, wenn sich die Mixer-Daten ge�ndert haben |
33 | static const int MK_MAX_MOTOR = 16; // Maximale Anzahl der Motoren im Mixer |
33 | static const int MK_MAX_MOTOR = 16; // Maximale Anzahl der Motoren im Mixer |
34 | 34 | ||
35 | // Version des Seriellen Protokoll |
35 | // Version des Seriellen Protokoll |
36 | static const int VERSION_SERIAL_MAJOR = 11; |
36 | static const int VERSION_SERIAL_MAJOR = 11; |
37 | static const int VERSION_SERIAL_MINOR = 0; |
37 | static const int VERSION_SERIAL_MINOR = 0; |
38 | 38 | ||
39 | // Basis-Addressen der verschiedenen Hardware |
39 | // Basis-Addressen der verschiedenen Hardware |
40 | static const int ADDRESS_ALL = 0; |
40 | static const int ADDRESS_ALL = 0; |
41 | static const int ADDRESS_FC = 1; |
41 | static const int ADDRESS_FC = 1; |
42 | static const int ADDRESS_NC = 2; |
42 | static const int ADDRESS_NC = 2; |
43 | static const int ADDRESS_MK3MAG = 3; |
43 | static const int ADDRESS_MK3MAG = 3; |
44 | static const int ADDRESS_BLC = 5; |
44 | static const int ADDRESS_BLC = 5; |
45 | 45 | ||
46 | #define FCFLAG_MOTOR_RUN 0x01 |
46 | #define FCFLAG_MOTOR_RUN 0x01 |
47 | #define FCFLAG_FLY 0x02 |
47 | #define FCFLAG_FLY 0x02 |
48 | #define FCFLAG_CALIBRATE 0x04 |
48 | #define FCFLAG_CALIBRATE 0x04 |
49 | #define FCFLAG_START 0x08 |
49 | #define FCFLAG_START 0x08 |
50 | #define FCFLAG_NOTLANDUNG 0x10 |
50 | #define FCFLAG_NOTLANDUNG 0x10 |
51 | #define FCFLAG_LOWBAT 0x20 |
51 | #define FCFLAG_LOWBAT 0x20 |
52 | #define FCFLAG_SPI_RX_ERR 0x40 |
52 | #define FCFLAG_SPI_RX_ERR 0x40 |
53 | #define FCFLAG_I2CERR 0x80 |
53 | #define FCFLAG_I2CERR 0x80 |
54 | 54 | ||
55 | #define DEFEKT_G_NICK 0x01 |
55 | #define DEFEKT_G_NICK 0x01 |
56 | #define DEFEKT_G_ROLL 0x02 |
56 | #define DEFEKT_G_ROLL 0x02 |
57 | #define DEFEKT_G_GIER 0x04 |
57 | #define DEFEKT_G_GIER 0x04 |
58 | #define DEFEKT_A_NICK 0x08 |
58 | #define DEFEKT_A_NICK 0x08 |
59 | #define DEFEKT_A_ROLL 0x10 |
59 | #define DEFEKT_A_ROLL 0x10 |
60 | #define DEFEKT_A_Z 0x20 |
60 | #define DEFEKT_A_Z 0x20 |
61 | #define DEFEKT_PRESSURE 0x40 |
61 | #define DEFEKT_PRESSURE 0x40 |
62 | #define DEFEKT_CAREFREE_ERR 0x80 |
62 | #define DEFEKT_CAREFREE_ERR 0x80 |
63 | 63 | ||
64 | #define DEFEKT_I2C 0x01 |
64 | #define DEFEKT_I2C 0x01 |
65 | #define DEFEKT_BL_MISSING 0x02 |
65 | #define DEFEKT_BL_MISSING 0x02 |
66 | #define DEFEKT_SPI_RX_ERR 0x04 |
66 | #define DEFEKT_SPI_RX_ERR 0x04 |
67 | #define DEFEKT_PPM_ERR 0x08 |
67 | #define DEFEKT_PPM_ERR 0x08 |
68 | #define DEFEKT_MIXER_ERR 0x10 |
68 | #define DEFEKT_MIXER_ERR 0x10 |
69 | 69 | ||
70 | #define CFG_HOEHENREGELUNG 0x01 |
70 | #define CFG_HOEHENREGELUNG 0x01 |
71 | #define CFG_HOEHEN_SCHALTER 0x02 |
71 | #define CFG_HOEHEN_SCHALTER 0x02 |
72 | #define CFG_HEADING_HOLD 0x04 |
72 | #define CFG_HEADING_HOLD 0x04 |
73 | #define CFG_KOMPASS_AKTIV 0x08 |
73 | #define CFG_KOMPASS_AKTIV 0x08 |
74 | #define CFG_KOMPASS_FIX 0x10 |
74 | #define CFG_KOMPASS_FIX 0x10 |
75 | #define CFG_GPS_AKTIV 0x20 |
75 | #define CFG_GPS_AKTIV 0x20 |
76 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
76 | #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
77 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
77 | #define CFG_DREHRATEN_BEGRENZER 0x80 |
78 | 78 | ||
79 | #define CFG_LOOP_OBEN 0x01 |
79 | #define CFG_LOOP_OBEN 0x01 |
80 | #define CFG_LOOP_UNTEN 0x02 |
80 | #define CFG_LOOP_UNTEN 0x02 |
81 | #define CFG_LOOP_LINKS 0x04 |
81 | #define CFG_LOOP_LINKS 0x04 |
82 | #define CFG_LOOP_RECHTS 0x08 |
82 | #define CFG_LOOP_RECHTS 0x08 |
83 | #define CFG_MOTOR_BLINK 0x10 |
83 | #define CFG_MOTOR_BLINK 0x10 |
84 | #define CFG_MOTOR_OFF_LED1 0x20 |
84 | #define CFG_MOTOR_OFF_LED1 0x20 |
85 | #define CFG_MOTOR_OFF_LED2 0x40 |
85 | #define CFG_MOTOR_OFF_LED2 0x40 |
86 | #define CFG_RES4 0x80 |
86 | #define CFG_RES4 0x80 |
87 | 87 | ||
88 | #define CFG2_HEIGHT_LIMIT 0x01 |
88 | #define CFG2_HEIGHT_LIMIT 0x01 |
89 | #define CFG2_VARIO_BEEP 0x02 |
89 | #define CFG2_VARIO_BEEP 0x02 |
90 | #define CFG_SENSITIVE_RC 0x04 |
90 | #define CFG_SENSITIVE_RC 0x04 |
- | 91 | #define CFG_3_3V_REFERENCE 0x08 |
|
91 | 92 | ||
92 | #define CFG0_AIRPRESS_SENSOR 0x01 |
93 | #define CFG0_AIRPRESS_SENSOR 0x01 |
93 | #define CFG0_HEIGHT_SWITCH 0x02 |
94 | #define CFG0_HEIGHT_SWITCH 0x02 |
94 | #define CFG0_HEADING_HOLD 0x04 |
95 | #define CFG0_HEADING_HOLD 0x04 |
95 | #define CFG0_COMPASS_ACTIVE 0x08 |
96 | #define CFG0_COMPASS_ACTIVE 0x08 |
96 | #define CFG0_COMPASS_FIX 0x10 |
97 | #define CFG0_COMPASS_FIX 0x10 |
97 | #define CFG0_GPS_ACTIVE 0x20 |
98 | #define CFG0_GPS_ACTIVE 0x20 |
98 | #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
99 | #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
99 | #define CFG0_ROTARY_RATE_LIMITER 0x80 |
100 | #define CFG0_ROTARY_RATE_LIMITER 0x80 |
100 | 101 | ||
101 | // defines for the receiver selection |
102 | // defines for the receiver selection |
102 | #define RECEIVER_PPM 0 |
103 | #define RECEIVER_PPM 0 |
103 | #define RECEIVER_SPEKTRUM 1 |
104 | #define RECEIVER_SPEKTRUM 1 |
104 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
105 | #define RECEIVER_SPEKTRUM_HI_RES 2 |
105 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
106 | #define RECEIVER_SPEKTRUM_LOW_RES 3 |
106 | #define RECEIVER_JETI 4 |
107 | #define RECEIVER_JETI 4 |
107 | #define RECEIVER_ACT_DSL 5 |
108 | #define RECEIVER_ACT_DSL 5 |
108 | #define RECEIVER_UNKNOWN 0xFF |
109 | #define RECEIVER_UNKNOWN 0xFF |
109 | 110 | ||
110 | struct s_MK_VersionInfo |
111 | struct s_MK_VersionInfo |
111 | { |
112 | { |
112 | unsigned char SWMajor; |
113 | unsigned char SWMajor; |
113 | unsigned char SWMinor; |
114 | unsigned char SWMinor; |
114 | unsigned char ProtoMajor; |
115 | unsigned char ProtoMajor; |
115 | unsigned char ProtoMinor; |
116 | unsigned char ProtoMinor; |
116 | unsigned char SWPatch; |
117 | unsigned char SWPatch; |
117 | unsigned char HardwareError[5]; |
118 | unsigned char HardwareError[5]; |
118 | }; |
119 | }; |
119 | 120 | ||
120 | struct s_MK_Debug |
121 | struct s_MK_Debug |
121 | { |
122 | { |
122 | unsigned char Digital[2]; |
123 | unsigned char Digital[2]; |
123 | int16_t Analog[32]; // Debugwerte |
124 | int16_t Analog[32]; // Debugwerte |
124 | }; |
125 | }; |
125 | 126 | ||
126 | struct s_MK_DebugLabels |
127 | struct s_MK_DebugLabels |
127 | { |
128 | { |
128 | int Position; |
129 | int Position; |
129 | QString Text; |
130 | QString Text; |
130 | }; |
131 | }; |
131 | 132 | ||
132 | //typedef int16_t s_MK_PPM_Data[26]; |
133 | //typedef int16_t s_MK_PPM_Data[26]; |
133 | 134 | ||
134 | struct s_MK_PPM_Data |
135 | struct s_MK_PPM_Data |
135 | { |
136 | { |
136 | int16_t Data[26]; |
137 | int16_t Data[26]; |
137 | }; |
138 | }; |
138 | 139 | ||
139 | 140 | ||
140 | struct s_MK_Settings |
141 | struct s_MK_Settings |
141 | { |
142 | { |
142 | // Die ersten beiden Bytes nicht an den MK senden. |
143 | // Die ersten beiden Bytes nicht an den MK senden. |
143 | unsigned char Index; |
144 | unsigned char Index; |
144 | 145 | ||
145 | unsigned char Revision; |
146 | unsigned char Revision; |
146 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
147 | unsigned char Kanalbelegung[12]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
147 | unsigned char GlobalConfig; // 0x01=H�henregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
148 | unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
148 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
149 | unsigned char Hoehe_MinGas; // Wert : 0-100 |
149 | unsigned char Luftdruck_D; // Wert : 0-250 |
150 | unsigned char Luftdruck_D; // Wert : 0-250 |
150 | unsigned char MaxHoehe; // Wert : 0-32 |
151 | unsigned char MaxHoehe; // Wert : 0-32 |
151 | unsigned char Hoehe_P; // Wert : 0-32 |
152 | unsigned char Hoehe_P; // Wert : 0-32 |
152 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
153 | unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
153 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
154 | unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
154 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
155 | unsigned char Hoehe_HoverBand; // Wert : 0-250 |
155 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
156 | unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
156 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
157 | unsigned char Hoehe_StickNeutralPoint;// Wert : 0-250 |
157 | unsigned char Stick_P; // Wert : 1-6 |
158 | unsigned char Stick_P; // Wert : 1-6 |
158 | unsigned char Stick_D; // Wert : 0-64 |
159 | unsigned char Stick_D; // Wert : 0-64 |
159 | unsigned char Gier_P; // Wert : 1-20 |
160 | unsigned char Gier_P; // Wert : 1-20 |
160 | unsigned char Gas_Min; // Wert : 0-32 |
161 | unsigned char Gas_Min; // Wert : 0-32 |
161 | unsigned char Gas_Max; // Wert : 33-250 |
162 | unsigned char Gas_Max; // Wert : 33-250 |
162 | unsigned char GyroAccFaktor; // Wert : 1-64 |
163 | unsigned char GyroAccFaktor; // Wert : 1-64 |
163 | unsigned char KompassWirkung; // Wert : 0-32 |
164 | unsigned char KompassWirkung; // Wert : 0-32 |
164 | unsigned char Gyro_P; // Wert : 10-250 |
165 | unsigned char Gyro_P; // Wert : 10-250 |
165 | unsigned char Gyro_I; // Wert : 0-250 |
166 | unsigned char Gyro_I; // Wert : 0-250 |
166 | unsigned char Gyro_D; // Wert : 0-250 |
167 | unsigned char Gyro_D; // Wert : 0-250 |
167 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
168 | unsigned char Gyro_Gier_P; // Wert : 10-250 |
168 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
169 | unsigned char Gyro_Gier_I; // Wert : 0-250 |
169 | unsigned char Gyro_Stability; // 0.80 Wert : 0-16 |
170 | unsigned char Gyro_Stability; // Wert : 0-16 |
170 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
171 | unsigned char UnterspannungsWarnung; // Wert : 0-250 |
171 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Emp�ngsverlust |
172 | unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
172 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
173 | unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
173 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
174 | unsigned char Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
174 | unsigned char I_Faktor; // Wert : 0-250 |
175 | unsigned char I_Faktor; // Wert : 0-250 |
175 | unsigned char UserParam1; // Wert : 0-250 |
176 | unsigned char UserParam1; // Wert : 0-250 |
176 | unsigned char UserParam2; // Wert : 0-250 |
177 | unsigned char UserParam2; // Wert : 0-250 |
177 | unsigned char UserParam3; // Wert : 0-250 |
178 | unsigned char UserParam3; // Wert : 0-250 |
178 | unsigned char UserParam4; // Wert : 0-250 |
179 | unsigned char UserParam4; // Wert : 0-250 |
179 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
180 | unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
180 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
181 | unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
181 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
182 | unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
182 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
183 | unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
- | 184 | //--- Seit V0.75 |
|
183 | unsigned char ServoRollControl; // 0.75 Wert : 0-250 // Stellung des Servos |
185 | unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
184 | unsigned char ServoRollComp; // 0.75 Wert : 0-250 |
186 | unsigned char ServoRollComp; // Wert : 0-250 |
185 | unsigned char ServoRollMin; // 0.75 Wert : 0-250 |
187 | unsigned char ServoRollMin; // Wert : 0-250 |
186 | unsigned char ServoRollMax; // 0.75 Wert : 0-250 |
188 | unsigned char ServoRollMax; // Wert : 0-250 |
- | 189 | //--- |
|
187 | unsigned char ServoNickRefresh; // Speed of the Servo |
190 | unsigned char ServoNickRefresh; // Speed of the Servo |
- | 191 | unsigned char ServoManualControlSpeed;// |
|
- | 192 | unsigned char CamOrientation; // |
|
188 | unsigned char Servo3; // Value or mapping of the Servo Output |
193 | unsigned char Servo3; // Value or mapping of the Servo Output |
189 | unsigned char Servo4; // Value or mapping of the Servo Output |
194 | unsigned char Servo4; // Value or mapping of the Servo Output |
190 | unsigned char Servo5; // Value or mapping of the Servo Output |
195 | unsigned char Servo5; // Value or mapping of the Servo Output |
191 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas w�hrend Looping |
196 | unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
192 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle f�r Stickausschlag |
197 | unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
193 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese f�r Stickausschlag |
198 | unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
194 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
199 | unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
195 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
200 | unsigned char AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
196 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
201 | unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
197 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180�-Punkt |
202 | unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
198 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180�-Punkt |
203 | unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
199 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
204 | unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
200 | unsigned char Driftkomp; // |
205 | unsigned char Driftkomp; |
201 | unsigned char DynamicStability; // |
206 | unsigned char DynamicStability; |
202 | unsigned char UserParam5; // Wert : 0-250 |
207 | unsigned char UserParam5; // Wert : 0-250 |
203 | unsigned char UserParam6; // Wert : 0-250 |
208 | unsigned char UserParam6; // Wert : 0-250 |
204 | unsigned char UserParam7; // Wert : 0-250 |
209 | unsigned char UserParam7; // Wert : 0-250 |
205 | unsigned char UserParam8; // Wert : 0-250 |
210 | unsigned char UserParam8; // Wert : 0-250 |
206 | //---Output --------------------------------------------- |
211 | //---Output --------------------------------------------- |
207 | unsigned char J16Bitmask; // for the J16 Output |
212 | unsigned char J16Bitmask; // for the J16 Output |
208 | unsigned char J16Timing; // for the J16 Output |
213 | unsigned char J16Timing; // for the J16 Output |
209 | unsigned char J17Bitmask; // for the J17 Output |
214 | unsigned char J17Bitmask; // for the J17 Output |
210 | unsigned char J17Timing; // for the J17 Output |
215 | unsigned char J17Timing; // for the J17 Output |
- | 216 | // seit version V0.75c |
|
211 | unsigned char WARN_J16_Bitmask; // 0.75 for the J16 Output |
217 | unsigned char WARN_J16_Bitmask; // for the J16 Output |
212 | unsigned char WARN_J17_Bitmask; // 0.75 for the J17 Output |
218 | unsigned char WARN_J17_Bitmask; // for the J17 Output |
213 | //---NaviCtrl--------------------------------------------- |
219 | //---NaviCtrl--------------------------------------------- |
214 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
220 | unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
215 | unsigned char NaviGpsGain; |
221 | unsigned char NaviGpsGain; |
216 | unsigned char NaviGpsP; |
222 | unsigned char NaviGpsP; |
217 | unsigned char NaviGpsI; |
223 | unsigned char NaviGpsI; |
218 | unsigned char NaviGpsD; |
224 | unsigned char NaviGpsD; |
219 | unsigned char NaviGpsPLimit; |
225 | unsigned char NaviGpsPLimit; |
220 | unsigned char NaviGpsILimit; |
226 | unsigned char NaviGpsILimit; |
221 | unsigned char NaviGpsDLimit; |
227 | unsigned char NaviGpsDLimit; |
222 | unsigned char NaviGpsACC; |
228 | unsigned char NaviGpsACC; |
223 | unsigned char NaviGpsMinSat; |
229 | unsigned char NaviGpsMinSat; |
224 | unsigned char NaviStickThreshold; |
230 | unsigned char NaviStickThreshold; |
225 | unsigned char NaviWindCorrection; |
231 | unsigned char NaviWindCorrection; |
226 | unsigned char NaviSpeedCompensation; |
232 | unsigned char NaviSpeedCompensation; |
227 | unsigned char NaviOperatingRadius; |
233 | unsigned char NaviOperatingRadius; |
228 | unsigned char NaviAngleLimitation; |
234 | unsigned char NaviAngleLimitation; |
229 | unsigned char NaviPH_LoginTime; |
235 | unsigned char NaviPH_LoginTime; |
230 | //---Ext.Ctrl--------------------------------------------- |
236 | //---Ext.Ctrl--------------------------------------------- |
231 | unsigned char ExternalControl; // for serial Control |
237 | unsigned char ExternalControl; // for serial Control |
232 | //---CareFree--------------------------------------------- |
238 | //---CareFree--------------------------------------------- |
233 | unsigned char OrientationAngle; // 0.80 Where is the front-direction? |
239 | unsigned char OrientationAngle; // Where is the front-direction? |
234 | unsigned char OrientationModeControl; // 0.80 switch for CareFree |
240 | unsigned char OrientationModeControl; // switch for CareFree |
- | 241 | unsigned char MotorSafetySwitch; |
|
235 | //-------------------------------------------------------- |
242 | //------------------------------------------------ |
236 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
243 | unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
237 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
244 | unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
238 | unsigned char ExtraConfig; // bitcodiert |
245 | unsigned char ExtraConfig; // bitcodiert |
239 | char Name[12]; |
246 | char Name[12]; |
240 | unsigned char crc; |
247 | unsigned char crc; // must be the last byte! |
241 | - | ||
242 | }; |
248 | }; |
243 | 249 | ||
244 | struct s_MK_Mixer |
250 | struct s_MK_Mixer |
245 | { |
251 | { |
246 | uint8_t Revision; |
252 | uint8_t Revision; |
247 | char Name[12]; |
253 | char Name[12]; |
248 | int8_t Motor[16][4]; |
254 | int8_t Motor[16][4]; |
249 | uint8_t crc; |
255 | uint8_t crc; |
250 | }; |
256 | }; |
251 | 257 | ||
252 | /////////////// |
258 | /////////////// |
253 | // Navi-Ctrl // |
259 | // Navi-Ctrl // |
254 | /////////////// |
260 | /////////////// |
255 | 261 | ||
256 | #define INVALID 0x00 |
262 | #define INVALID 0x00 |
257 | #define NEWDATA 0x01 |
263 | #define NEWDATA 0x01 |
258 | #define PROCESSED 0x02 |
264 | #define PROCESSED 0x02 |
259 | 265 | ||
260 | #define NC_FLAG_FREE 0x01 |
266 | #define NC_FLAG_FREE 0x01 |
261 | #define NC_FLAG_PH 0x02 |
267 | #define NC_FLAG_PH 0x02 |
262 | #define NC_FLAG_CH 0x04 |
268 | #define NC_FLAG_CH 0x04 |
263 | #define NC_FLAG_RANGE_LIMIT 0x08 |
269 | #define NC_FLAG_RANGE_LIMIT 0x08 |
264 | #define NC_FLAG_NOSERIALLINK 0x10 |
270 | #define NC_FLAG_NOSERIALLINK 0x10 |
265 | #define NC_FLAG_TARGET_REACHED 0x20 |
271 | #define NC_FLAG_TARGET_REACHED 0x20 |
266 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
272 | #define NC_FLAG_MANUAL_CONTROL 0x40 |
267 | #define NC_FLAG_8 0x80 |
273 | #define NC_FLAG_8 0x80 |
268 | 274 | ||
269 | #define POINT_TYPE_WP 0 |
275 | #define POINT_TYPE_WP 0 |
270 | #define POINT_TYPE_POI 1 |
276 | #define POINT_TYPE_POI 1 |
271 | 277 | ||
272 | typedef struct |
278 | typedef struct |
273 | { |
279 | { |
274 | int32_t Longitude; // in 1E-7 deg |
280 | int32_t Longitude; // in 1E-7 deg |
275 | int32_t Latitude; // in 1E-7 deg |
281 | int32_t Latitude; // in 1E-7 deg |
276 | int32_t Altitude; // in mm |
282 | int32_t Altitude; // in mm |
277 | uint8_t Status; // validity of data |
283 | uint8_t Status; // validity of data |
278 | } __attribute__((packed)) GPS_Pos_t; |
284 | } __attribute__((packed)) GPS_Pos_t; |
279 | 285 | ||
280 | typedef struct |
286 | typedef struct |
281 | { |
287 | { |
282 | uint16_t Distance; // distance to target in dm |
288 | uint16_t Distance; // distance to target in dm |
283 | int16_t Bearing; // course to target in deg |
289 | int16_t Bearing; // course to target in deg |
284 | } __attribute__((packed)) GPS_PosDev_t; |
290 | } __attribute__((packed)) GPS_PosDev_t; |
285 | 291 | ||
286 | typedef struct |
292 | typedef struct |
287 | { |
293 | { |
288 | uint8_t Version; // version of the data structure |
294 | uint8_t Version; // version of the data structure |
289 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
295 | GPS_Pos_t CurrentPosition; // see ubx.h for details |
290 | GPS_Pos_t TargetPosition; |
296 | GPS_Pos_t TargetPosition; |
291 | GPS_PosDev_t TargetPositionDeviation; |
297 | GPS_PosDev_t TargetPositionDeviation; |
292 | GPS_Pos_t HomePosition; |
298 | GPS_Pos_t HomePosition; |
293 | GPS_PosDev_t HomePositionDeviation; |
299 | GPS_PosDev_t HomePositionDeviation; |
294 | uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
300 | uint8_t WaypointIndex; // index of current waypoints running from 0 to WaypointNumber-1 |
295 | uint8_t WaypointNumber; // number of stored waypoints |
301 | uint8_t WaypointNumber; // number of stored waypoints |
296 | uint8_t SatsInUse; // number of satellites used for position solution |
302 | uint8_t SatsInUse; // number of satellites used for position solution |
297 | int16_t Altimeter; // hight according to air pressure |
303 | int16_t Altimeter; // hight according to air pressure |
298 | int16_t Variometer; // climb(+) and sink(-) rate |
304 | int16_t Variometer; // climb(+) and sink(-) rate |
299 | uint16_t FlyingTime; // in seconds |
305 | uint16_t FlyingTime; // in seconds |
300 | uint8_t UBat; // Battery Voltage in 0.1 Volts |
306 | uint8_t UBat; // Battery Voltage in 0.1 Volts |
301 | uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
307 | uint16_t GroundSpeed; // speed over ground in cm/s (2D) |
302 | int16_t Heading; // current flight direction in ° as angle to north |
308 | int16_t Heading; // current flight direction in ° as angle to north |
303 | int16_t CompassHeading; // current compass value in ° |
309 | int16_t CompassHeading; // current compass value in ° |
304 | int8_t AngleNick; // current Nick angle in 1° |
310 | int8_t AngleNick; // current Nick angle in 1° |
305 | int8_t AngleRoll; // current Rick angle in 1° |
311 | int8_t AngleRoll; // current Rick angle in 1° |
306 | uint8_t RC_Quality; // RC_Quality |
312 | uint8_t RC_Quality; // RC_Quality |
307 | uint8_t FCFlags; // Flags from FC |
313 | uint8_t FCFlags; // Flags from FC |
308 | uint8_t NCFlags; // Flags from NC |
314 | uint8_t NCFlags; // Flags from NC |
309 | uint8_t Errorcode; // 0 --> okay |
315 | uint8_t Errorcode; // 0 --> okay |
310 | uint8_t OperatingRadius; // current operation radius around the Home Position in m |
316 | uint8_t OperatingRadius; // current operation radius around the Home Position in m |
311 | int16_t TopSpeed; // velocity in vertical direction in cm/s |
317 | int16_t TopSpeed; // velocity in vertical direction in cm/s |
312 | uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
318 | uint8_t TargetHoldTime; // time in s to stay at the given target, counts down to 0 if target has been reached |
313 | uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
319 | uint8_t RC_RSSI; // Receiver signal strength (since version 2 added) |
314 | int16_t SetpointAltitude; // setpoint for altitude |
320 | int16_t SetpointAltitude; // setpoint for altitude |
315 | uint8_t Gas; // for future use |
321 | uint8_t Gas; // for future use |
316 | uint16_t Current; // actual current in 0.1A steps |
322 | uint16_t Current; // actual current in 0.1A steps |
317 | uint16_t UsedCapacity; // used capacity in mAh |
323 | uint16_t UsedCapacity; // used capacity in mAh |
318 | 324 | ||
319 | } __attribute__((packed)) s_MK_NaviData; |
325 | } __attribute__((packed)) s_MK_NaviData; |
320 | 326 | ||
321 | typedef struct |
327 | typedef struct |
322 | { |
328 | { |
323 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
329 | GPS_Pos_t Position; // the gps position of the waypoint, see ubx.h for details |
324 | int16_t Heading; // orientation, future implementation |
330 | int16_t Heading; // orientation, future implementation |
325 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
331 | uint8_t ToleranceRadius; // in meters, if the MK is within that range around the target, then the next target is triggered |
326 | uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered |
332 | uint8_t HoldTime; // in seconds, if the was once in the tolerance area around a WP, this time defies the delay before the next WP is triggered |
327 | uint8_t Event_Flag; // future emplementation |
333 | uint8_t Event_Flag; // future emplementation |
328 | uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
334 | uint8_t Index; // to indentify different waypoints, workaround for bad communications PC <-> NC |
329 | uint8_t Type; // type of Waypoint |
335 | uint8_t Type; // type of Waypoint |
330 | uint8_t reserve[11]; // reserve |
336 | uint8_t reserve[11]; // reserve |
331 | } __attribute__((packed)) s_MK_WayPoint; |
337 | } __attribute__((packed)) s_MK_WayPoint; |
332 | 338 | ||
333 | #endif // MK_DATATYPES_H |
339 | #endif // MK_DATATYPES_H |
334 | 340 |